ISO 9660.
https://www.iso.org/iso-9660-images-for-computer-files.html
VMDK
https://en.wikipedia.org/wiki/VMDK
Amiga
https://en.wikipedia.org/wiki/Amiga_Disk_File
UDF
https://en.wikipedia.org/wiki/Universal_Disk_Format
Apple Disk Image
However, words are words but software is better:
- https://github.com/vmware/open-vmdk#specifications is Apache 2
- the link they cited is bitrotten but Internet Archive has you: https://web.archive.org/web/20210411181842/https://www.vmwar...
So congrats on finding the spec for it, as its no longer maintained! Its also no longer followed, either, unfortunately.
So very many of them are just header details + "only works with our tools".
(Yes, you can store a filesystem in a file - and that's a trivial sort of disk image, but one with some serious drawbacks like "you have to allocate all of the space up front". We can do better.)
If those count as a disk image when you put a filesystem inside, then I say a normal file is also a disk image when you put a filesystem inside.
Especially because the sparse mapping is optional. For example, lots of VHDs are a raw file plus a 512 byte footer.